ParticleOdometry

Lesson10/Programs/PilotMonitor/src/ParticleSet.java

@@ -20,8 +20,8 @@ public class ParticleSet
 {
 
   // Instance variables
-  private float distanceNoiseFactor = 0.2f; //0.2f;
-  private float angleNoiseFactor = 4; //4f;
+  private float distanceNoiseFactor = 0.005f; //0.2f;
+  private float angleNoiseFactor = 2.5f; //4f;
   private int numParticles;
   private Particle[] particles;
   

Lesson10/Programs/PilotMonitor/src/PilotMonitor.java

@@ -19,7 +19,7 @@ public class PilotMonitor
 	private InputOutputStreams NXT;
 	private boolean USB = false;
 	private Route route = new Route();
-    private ParticleSet particles  = new ParticleSet(10);
+    private ParticleSet particles  = new ParticleSet(100);
     private PilotGUI view = new PilotGUI(particles);
     private Move move;
     
@@ -43,7 +43,7 @@ public class PilotMonitor
     	m = new Move( (type == 0)? Move.MoveType.TRAVEL : Move.MoveType.ROTATE , 
     			distance, angle, false);
     	System.out.println("Move " + distance + " " + angle);
-    	return new Move(Move.MoveType.TRAVEL,50,0,false);
+    	return m;
     }
     
     public void go()

Lesson10/Programs/PilotRoute/src/PilotRoute.java

@@ -8,7 +8,7 @@ public class PilotRoute
     
     private double distFactor = 0.99;
 	private double wheelDiameterL = 5.595*distFactor, wheelDiameterR = 5.6*distFactor, trackWidth = 16.27;
-	private double travelSpeed = 5, rotateSpeed = 45;
+	private double travelSpeed = 25, rotateSpeed = 45;
 	private NXTRegulatedMotor left = Motor.B;
 	private NXTRegulatedMotor right = Motor.C;
 	   
@@ -49,10 +49,13 @@ public class PilotRoute
 		Sound.twoBeeps();
 		
 		travel(50);
-		rotate(-90);	
+		rotate(90);	
 		travel(50);
-		rotate(-90);
+		rotate(90);
 		travel(50);
+		rotate(90);
+		travel(50);
+		rotate(90);
 		
 		while ( ! Button.ENTER.isDown()) Thread.yield();